基于STM32的机器人软件平台设计与实现

A robot software platform design and implement based on STM32

针对现有移动机器人软件平台存在模块之间相互交叉、占用内存以及定时器资源等问题,开发了以STM32小型化移动机器人为载体,采用软件分层的主要方法,将平台从上到下依次划分为协议解析层、功能控制层和硬件驱动层,各层分别进行协议数据收发、分析系统功能管理和机器人硬件资源控制。实验验证了开发的通用软件平台(URSP)分层协议的方案,该方案可简化数据流,高效、可靠地完成硬件系统的管理、信息采集和收发等任务,具有良好的经济技术效果。

There are some problems in the existing software platform of mobile robot,such as the cross of modules,the occupation of memory and timer resources.Based on STM32 miniaturized mobile robot as the carrier,the platform is divided into protocol analysis layer,function control layer and hardware driver layer from top to bottom by adopting the main method of software layering.Each layer carries out protocol data receiving and sending,analysis,system function management and robot hardware resource control.The universal software platform developed by experiments simplifies the data flow and completes the tasks of hardware system management,information collection and sending and receiving efficiently and reliably through the scheme of layered protocol,which has good economic and technical effect.